End effector and robot

Abstract

An end effector includes a holding unit that holds a screw member to be rotatable around the axis line of the screw member, and a rotary unit that is provided on the axis line, moves linearly along the axis line in a condition of being in contact with the head portion of the screw member held by the holding unit, and rotates the screw member around the axis line by rotation accompanying the linear motion.

What is claimed is: 
     
         1 . An end effector comprising:
 a holding unit that holds a screw member to be rotatable around an axis line of the screw member; and   a rotary unit that is provided on the axis line, moves linearly along the axis line in a condition of being in contact with a head portion of the screw member held by the holding unit, and rotates the screw member around the axis line by rotation accompanying the linear motion.   
     
     
         2 . The end effector according to  claim 1 , wherein the holding unit holds the screw member along the axis line not to deviate from the axis line, and is movable along the axis line. 
     
     
         3 . The end effector according to  claim 2 , wherein the holding unit and the notary unit are individually pressed towards a tip side thereof along the axis line, and
 the rotary unit is pressed onto the head portion of the screw member by movement of the holding unit holding the screw member towards a base end side thereof along the axis line.   
     
     
         4 . The end effector according to  claim 1 , wherein the rotary unit is replaceable in accordance with one or both at a diameter and a pitch of the screw member to be held by the holding unit. 
     
     
         5 . The end effector according to  claim 1 , wherein the holding unit includes:
 two or more holding claws; and   an open/close unit that makes the holding claws open and close.   
     
     
         6 . The end effector according to  claim 1 , wherein the holding unit includes a roller that rotates around a rotation axis parallel to the axis line. 
     
     
         7 . A robot comprising the end effector according to  claim 1 . 
     
     
         8 . An end effector comprising:
 a holding, unit that holds a screw member; and   a rotary unit that rotates the screw member around an axis line of the screw member,   the holding unit comprising:
 two or more holding claws; and 
 two or more rollers that are respectively connected to the holding claws and rotate around a rotation axis parallel to the axis line, and 
   the rotary unit comprising:
 a supporting unit that supports a head portion of the screw member; and 
 a screw shaft that is connected to the supporting unit, and linearly moves along the axis line and simultaneously rotates around the axis line when the end effector is pressed in a direction of the axis line. 
   
     
     
         9 . The end effector according to  claim 8 , wherein.
 the holding claws includes two holding claws, and   the rollers includes three rollers.   
     
     
         10 . The end effector according to  claim 8 , wherein the holding unit further comprises an open/close unit that makes the holding claws open and close. 
     
     
         11 . The end effector according to  claim 8 , wherein the rotary unit further comprises an elastic unit that presses the screw shaft toward a tip side thereof. 
     
     
         12 . The end effector according to  claim 8 , further comprising a slider unit that makes the holding unit open and close with the axis line as a center. 
     
     
         13 . The end effector according to  claim 12 , wherein the slider unit includes:
 a base; and   a pair of mounts that is provided on both sides of the base.   
     
     
         14 . The end effector according to  claim 13 , wherein
 the holding unit is provided on the mounts, and   the rotary unit is provided on the base between the pair of mounts.   
     
     
         15 . An end effector comprising:
 means for holding a screw member to be rotatable Around an axis line of the screw member; and   means for moving linearly along the axis line in a condition of being in contact with a bead portion of the screw member held by the holding means and rotating the screw member around the axis line by rotation accompanying the linear motion.